ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h

64 lines
1.6 KiB
C++

#pragma once
#include "AP_RangeFinder_Backend.h"
#include <AP_CANManager/AP_CANSensor.h>
#ifndef AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
#define AP_RANGEFINDER_BENEWAKE_CAN_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
#endif
#if AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
class Benewake_MultiCAN;
class AP_RangeFinder_Benewake_CAN : public AP_RangeFinder_Backend {
public:
friend class Benewake_MultiCAN;
AP_RangeFinder_Benewake_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
void update() override;
// handler for incoming frames. Return true if consumed
bool handle_frame(AP_HAL::CANFrame &frame);
bool handle_frame_H30(AP_HAL::CANFrame &frame);
static const struct AP_Param::GroupInfo var_info[];
protected:
virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
return MAV_DISTANCE_SENSOR_RADAR;
}
private:
float _distance_sum_cm;
uint32_t _distance_count;
int32_t last_recv_id = -1;
AP_Int32 snr_min;
AP_Int32 receive_id;
static Benewake_MultiCAN *multican;
AP_RangeFinder_Benewake_CAN *next;
};
// a class to allow for multiple Benewake_CAN backends with one
// CANSensor driver
class Benewake_MultiCAN : public CANSensor {
public:
Benewake_MultiCAN() : CANSensor("Benewake") {
register_driver(AP_CAN::Protocol::Benewake);
}
// handler for incoming frames
void handle_frame(AP_HAL::CANFrame &frame) override;
HAL_Semaphore sem;
AP_RangeFinder_Benewake_CAN *drivers;
};
#endif // AP_RANGEFINDER_BENEWAKE_CAN_ENABLED